JPH03148706A - Guidance device for automatic traveling working vehicle - Google Patents

Abstract

PURPOSE:To reduce the amount of capital investiment by providing a sensor, which detects markers buried under the ground so that the position of the sensor can be freely adjusted in right and left directions orthogonal to a traveling direction. CONSTITUTION:A magnetic sensor 9 is provided so as to freely fix the position where the magnetic sensor is freely automatically moved in the right and left directions orthogonal to the traveling direction of an automatic traveling lawn mower 4. With the travel of the automatic traveling lawn mower 4, the magnetic sensor 9 detects a magnetic substance 8 and counts the number of the magnetic substances 8. When the automatic traveling lawn mower 4 arrives at the end part of a working area and the magnetic sensor 9 detects the prescribed number of the magnetic substances 8, the automatic traveling lawn mower 4 starts a turn to right based on traveling course information stored in a storage part. Simultaneously, the magnetic sensor 9 starts moving toward a center and when the turn is finished, the magnetic sensor 9 is positioned at the central part of the automatic traveling lawn mower 4. Next, in the state of positioning the magnetic sensor 9 at the central part, the automatic traveling lawn mower 4 starts linear traveling. Thus, the number of embedded markers is decreased and the amount of the capital investiment can be reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a guidance device for an autonomous working vehicle.

Conventional technologyCurrently, autonomous driving vehicles for uneven terrain are being developed that apply autonomous vehicle control technology to carry out tasks such as mowing lawns unmanned within golf course courses without the need for operators to operate them. Development and practical application are underway.

As a guidance device for such an autonomous work vehicle.

As shown in FIG. 4, an induction cable 2 is buried along the traveling trajectory of the automatic traveling work vehicle 1, and a pair of left and right pickups detect the magnetic field generated when a low frequency current is passed through the induction cable 2. Coil 3 on automatic driving work vehicle
It is common that it is attached to Then, based on the detection result of the magnetic field by the pickup coil 3, the automatic traveling work vehicle 1 is steered so that the induction cable 2 is located at the center of the left and right pickup coils 3.

Problems to be Solved by the Invention The guide cables 2 must be buried for each traveling trajectory of the automatic traveling work vehicle l, and the density of the guide cables 2 buried within the work area becomes dense. The total amount of electricity has become enormous, requiring a large amount of capital investment.

Means for Solving the Invention An automated driving work vehicle having a sensor that detects a marker buried underground in a work area and a steering control section that controls the steering of a steering device based on the detection result from the sensor, The sensor is provided so as to be adjustable in position in the left-right direction orthogonal to the traveling direction of the automatic traveling work vehicle.

The action sensor detects the marker, and the steering control section controls the steering of the steering device based on the detection result from the sensor, thereby causing the automatic traveling work vehicle to travel. Furthermore, by adjusting the position of the sensors in the left-right direction, even if the sensors are detecting the same sign object, the driving course of the automated driving work vehicle will be different based on the detection results from the sensor, and therefore, It is no longer necessary to bury signs along the entire travel course of the automated driving work vehicle, reducing the number of signs to be buried.

Embodiment An embodiment of the present invention will be explained based on FIGS. 1 to 3. A moafu is attached to the abdomen of an autonomous lawn mower 4, which is an autonomous work vehicle, so as to be movable up and down, located between a front wheel 5 and a rear wheel 6. On the other hand, a large number of magnetic materials 8, which are A-type materials, are intermittently buried underground in the work area where the automatic mower 4 is run.

Further, a magnetic sensor 9, which is a sensor for detecting the magnetism generated by the magnetic body 8, is attached to the front lower part of the automatic traveling lawn mower 4, and a magnetic sensor 9, which is a sensor for detecting the magnetism generated by the magnetic body 8, is attached to the rear upper part of the automatic traveling lawn mower 1. A direction sensor 10 is attached to detect the traveling direction of the automatically traveling lawn mower 1, and a distance sensor II is further provided to the automatically traveling lawn mower 434 to detect the traveling distance. Note that the magnetic sensor 9 is
It is provided so as to be movable in the left and right direction orthogonal to the direction of movement of the automatic mower 4 and to be fixed at the moved position.

Next, the self-driving lawn mower 4 includes a storage section 12 that stores travel course information set in advance;
The driving course information stored in the sensor 9, 10, 1
A steering control section 14 is provided, which outputs a steering control signal for controlling the steering of the steering device i13 based on the comparison result with the detection result by the magnetic sensor 1, and also outputs a control signal for moving the magnetic sensor 9 in the left and right direction. ing.

In such a configuration, as shown in FIG. 3, when starting lawn mowing work using the self-driving lawn mower 4, first move the magnetic sensor 9 to the right at the starting point, and then move the magnetic sensor 9 to the right. The automatic traveling lawn mower 4 is positioned so that the sensor 9 is located above the buried magnetic body 8, and the automatic traveling lawn mower 4 is driven.

As the self-driving lawnmower 4 moves, the magnetic sensor 9 detects the magnetic body 8.
is detected, and the number of detected magnetic bodies 8 is counted. Then, when the self-driving lawnmower 4 reaches the edge of the work area and the magnetic sensor 9 detects a predetermined number of magnetic bodies 8, the detection information from the magnetic sensor 9 and the traveling course stored in the storage unit 12 are detected. Self-driving lawn mower based on information 4
starts turning right. Furthermore, at the same time as starting this right turn, the magnetic sensor 9 starts moving toward the center based on the position information and traveling course information from the magnetic sensor 9,
At the end of the turn, the magnetic sensor 9 is located at the center of the automatic lawnmower 4.

Next, when the automatic lawn mower 4 resumes straight travel with the magnetic sensor 9 located at the center, the number of magnetic bodies 8 detected by the magnetic sensor 9 is counted. Then, when the self-driving lawnmower 4 reaches the opposite end of the work area and the magnetic sensor 9 detects a predetermined number of magnetic bodies 8, the detection information from the magnetic sensor 9 is stored in the storage unit 12. The automatically traveling lawnmower 4 starts turning left based on the traveling course information. Furthermore, at the same time as starting this left turn, the magnetic sensor 9 starts moving toward the left based on the position information and traveling course information from the magnetic sensor 9, and at the end of the turn, the magnetic sensor 9 starts moving toward the left of the automatic driving lawn mower 4. located to the left of

Then, the self-driving lawnmower 4 resumes running in a straight line with the magnetic sensor 9 positioned to the left. Therefore, the self-driving lawn mower 4 travels half a round trip along the 8 groups of magnetic bodies arranged in a row, compared to the conventional example in which a guidance cable etc. is buried along the travel trajectory of the self-driving lawn mower 4. The amount of magnetic material 8 to be buried is 1/3.

Note that when the self-driving lawnmower 4 runs between two magnetic bodies 8 and cannot detect the magnetic body 8, the detected direction detected by the direction sensor 10 and the traveling course information are stored. Steering control is performed based on the azimuth information.

In addition, the distance between the magnetic bodies 8 is stored as travel course information, and the automatically traveling lawn mower l may slip between the magnetic bodies 8 due to skidding, etc.
Even when it becomes impossible to detect the rotation position, the count number of the magnetic body 8 is incremented based on the distance information detected by the distance sensor 11, and an error in the turning position is prevented.

In this embodiment, the case where the magnetic bodies 8 are intermittently buried has been explained as an example, but instead of these magnetic bodies 8, induction cables are buried, and the pickup coils for detecting the induction cables are installed on the left and right sides. It may be provided so that the position can be freely adjusted in the direction.

In that case as well, the amount of induction cable to be buried is significantly reduced.

Effects of the Invention As described above, the present invention provides a sensor for detecting a marker buried underground so that its position can be freely adjusted in the left and right directions perpendicular to the traveling direction of the automated driving vehicle, thereby making it possible to turn the automated driving vehicle. By adjusting the position of the sensor in the left-right direction each time the sensor is moved, it is possible to shift the travel course of the automated driving vehicle while detecting the same sign with the sensor. It has the effect that the body density can be made coarser, and the amount of equipment investment can be significantly reduced due to a significant reduction in the number of markers to be buried.

[Brief explanation of the drawing]

Figures 1 to 3 show an embodiment of the present invention. Figure 1 is a side view of an automatic lawnmower, Figure 2 is a block diagram of a control system, and Figure 3 is a block diagram of a magnetic material. FIG. 4 is a plan view showing the buried state of the guide cable and the traveling trajectory of the automatic lawn mower in a conventional example. 4... Automated traveling work vehicle, 8... Marker, 9... Sensor, 13... Steering device, 14... Steering control unit Te 7, 11L JZ 1111 L-m-'' 1 1 ,． −−1−−−−−−−−−−−Kawak Ri IL/

Claims (1)

[Claims] In an automated driving work vehicle having a sensor that detects a marker buried underground in a work area and a steering control unit that controls the steering of a steering device based on the detection result from the sensor, the sensor is used for the automated driving work. A guidance device for an automated driving work vehicle, characterized in that the device is provided so that its position can be freely adjusted in the left and right directions perpendicular to the traveling direction of the vehicle.